OpenRaiser/Intern-Atlas huggingface dataset:
Advancing Self-supervised Monocular Depth Learning with Sparse LiDAR
Venue: arXiv cs.CV 2021
Year: 2021

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In this paper, we propose FusionDepth, a novel two-stage network to advance the self-supervised monocular dense depth learning by leveraging low-cost sparse (e.g. 4-beam) LiDAR. Unlike the existing methods that use sparse LiDAR mainly in a manner of time-consuming iterative post-processing, our model fuses monocular image features and sparse LiDAR features to predict initial depth maps. Then, an efficient feed-forward refine network is further designed to correct the errors in these initial depth maps in pseudo-3D space with real-time performance. Extensive experiments show that our proposed model significantly outperforms all the state-of-the-art self-supervised methods, as well as the sparse-LiDAR-based methods on both self-supervised monocular depth prediction and completion tasks. With the accurate dense depth prediction, our model outperforms the state-of-the-art sparse-LiDAR-based method (Pseudo-LiDAR++) by more than 68% for the downstream task monocular 3D object detection on the KITTI Leaderboard. Code is available at https://github.com/AutoAILab/FusionDepth
Trust Your Robots! Predictive Uncertainty Estimation of Neural Networks with Sparse Gaussian Processes
Venue: arXiv cs.RO 2021
Year: 2021

This paper presents a probabilistic framework to obtain both reliable and fast uncertainty estimates for predictions with Deep Neural Networks (DNNs). Our main contribution is a practical and principled combination of DNNs with sparse Gaussian Processes (GPs). We prove theoretically that DNNs can be seen as a special case of sparse GPs, namely mixtures of GP experts (MoE-GP), and we devise a learning algorithm that brings the derived theory into practice. In experiments from two different robotic tasks -- inverse dynamics of a manipulator and object detection on a micro-aerial vehicle (MAV) -- we show the effectiveness of our approach in terms of predictive uncertainty, improved scalability, and run-time efficiency on a Jetson TX2. We thus argue that our approach can pave the way towards reliable and fast robot learning systems with uncertainty awareness.
Hallucinated but Factual! Inspecting the Factuality of Hallucinations in Abstractive Summarization
Venue: arXiv cs.CL 2021
Year: 2021

State-of-the-art abstractive summarization systems often generate \emph{hallucinations}; i.e., content that is not directly inferable from the source text. Despite being assumed incorrect, we find that much hallucinated content is factual, namely consistent with world knowledge. These factual hallucinations can be beneficial in a summary by providing useful background information. In this work, we propose a novel detection approach that separates factual from non-factual hallucinations of entities. Our method utilizes an entity's prior and posterior probabilities according to pre-trained and finetuned masked language models, respectively. Empirical results suggest that our approach vastly outperforms two baselines %in both accuracy and F1 scores and strongly correlates with human judgments. % on factuality classification tasks. Furthermore, we show that our detector, when used as a reward signal in an off-line reinforcement learning (RL) algorithm, significantly improves the factuality of summaries while maintaining the level of abstractiveness.
Towards Energy-Efficient and Secure Edge AI: A Cross-Layer Framework
Venue: arXiv cs.CR 2021
Year: 2021

The security and privacy concerns along with the amount of data that is required to be processed on regular basis has pushed processing to the edge of the computing systems. Deploying advanced Neural Networks (NN), such as deep neural networks (DNNs) and spiking neural networks (SNNs), that offer state-of-the-art results on resource-constrained edge devices is challenging due to the stringent memory and power/energy constraints. Moreover, these systems are required to maintain correct functionality under diverse security and reliability threats. This paper first discusses existing approaches to address energy efficiency, reliability, and security issues at different system layers, i.e., hardware (HW) and software (SW). Afterward, we discuss how to further improve the performance (latency) and the energy efficiency of Edge AI systems through HW/SW-level optimizations, such as pruning, quantization, and approximation. To address reliability threats (like permanent and transient faults), we highlight cost-effective mitigation techniques, like fault-aware training and mapping. Moreover, we briefly discuss effective detection and protection techniques to address security threats (like model and data corruption). Towards the end, we discuss how these techniques can be combined in an integrated cross-layer framework for realizing robust and energy-efficient Edge AI systems.
Easing Reliance on Collision-free Planning with Contact-aware Control
Venue: arXiv cs.RO 2021
Year: 2021

We believe that the future of robot motion planning will look very different than how it looks today: instead of complex collision avoidance trajectories with a brittle dependence on sensing and estimation of the environment, motion plans should consist of smooth, simple trajectories and be executed by robots that are not afraid of making contact. Here we present a "contact-aware" controller which continues to execute a given trajectory despite unexpected collisions while keeping the contact force stable and small. We introduce a quadratic programming (QP) formulation, which minimizes a trajectory-tracking error subject to quasistatic dynamics and contact-force constraints. Compared with the classical null-space projection technique, the inequality constraint on contact forces in the proposed QP controller allows for more gentle release when the robot comes out of contact. In the quasistatic dynamics model, control actions consist only of commanded joint positions, allowing the QP controller to run on stiffness-controlled robots which do not have a straightforward torque-control interface nor accurate dynamic models. The effectiveness of the proposed QP controller is demonstrated on a KUKA iiwa arm.
StreamSide: A Fully-Customizable Open-Source Toolkit for Efficient Annotation of Meaning Representations
Venue: arXiv cs.CL 2021
Year: 2021

This demonstration paper presents StreamSide, an open-source toolkit for annotating multiple kinds of meaning representations. StreamSide supports frame-based annotation schemes e.g., Abstract Meaning Representation (AMR) and frameless annotation schemes e.g., Widely Interpretable Semantic Representation (WISeR). Moreover, it supports both sentence-level and document-level annotation by allowing annotators to create multi-rooted graphs for input text. It can open and automatically convert between several types of input formats including plain text, Penman notation, and its own JSON format enabling richer annotation. It features reference frames for AMR predicate argument structures, and also concept-to-text alignment. StreamSide is released under the Apache 2.0 license, and is completely open-source so that it can be customized to annotate enriched meaning representations in different languages (e.g., Uniform Meaning Representations). All StreamSide resources are publicly distributed through our open source project at: https://github.com/emorynlp/StreamSide.
SFFDD: Deep Neural Network with Enriched Features for Failure Prediction with Its Application to Computer Disk Driver
Venue: arXiv cs.LG 2021
Year: 2021

A classification technique incorporating a novel feature derivation method is proposed for predicting failure of a system or device with multivariate time series sensor data. We treat the multivariate time series sensor data as images for both visualization and computation. Failure follows various patterns which are closely related to the root causes. Different predefined transformations are applied on the original sensors data to better characterize the failure patterns. In addition to feature derivation, ensemble method is used to further improve the performance. In addition, a general algorithm architecture of deep neural network is proposed to handle multiple types of data with less manual feature engineering. We apply the proposed method on the early predict failure of computer disk drive in order to improve storage systems availability and avoid data loss. The classification accuracy is largely improved with the enriched features, named smart features.
Multi-Domain Few-Shot Learning and Dataset for Agricultural Applications
Venue: arXiv cs.CV 2021
Year: 2021

Automatic classification of pests and plants (both healthy and diseased) is of paramount importance in agriculture to improve yield. Conventional deep learning models based on convolutional neural networks require thousands of labeled examples per category. In this work we propose a method to learn from a few samples to automatically classify different pests, plants, and their diseases, using Few-Shot Learning (FSL). We learn a feature extractor to generate embeddings and then update the embeddings using Transformers. Using Mahalanobis distance, a class-covariance-based metric, we then calculate the similarity of the transformed embeddings with the embedding of the image to be classified. Using our proposed architecture, we conduct extensive experiments on multiple datasets showing the effectiveness of our proposed model. We conduct 42 experiments in total to comprehensively analyze the model and it achieves up to 14% and 24% performance gains on few-shot image classification benchmarks on two datasets. We also compile a new FSL dataset containing images of healthy and diseased plants taken in real-world settings. Using our proposed architecture which has been shown to outperform several existing FSL architectures in agriculture, we provide strong baselines on our newly proposed dataset.
Multi-Source Video Domain Adaptation with Temporal Attentive Moment Alignment
Venue: arXiv cs.CV 2021
Year: 2021

Multi-Source Domain Adaptation (MSDA) is a more practical domain adaptation scenario in real-world scenarios. It relaxes the assumption in conventional Unsupervised Domain Adaptation (UDA) that source data are sampled from a single domain and match a uniform data distribution. MSDA is more difficult due to the existence of different domain shifts between distinct domain pairs. When considering videos, the negative transfer would be provoked by spatial-temporal features and can be formulated into a more challenging Multi-Source Video Domain Adaptation (MSVDA) problem. In this paper, we address the MSVDA problem by proposing a novel Temporal Attentive Moment Alignment Network (TAMAN) which aims for effective feature transfer by dynamically aligning both spatial and temporal feature moments. TAMAN further constructs robust global temporal features by attending to dominant domain-invariant local temporal features with high local classification confidence and low disparity between global and local feature discrepancies. To facilitate future research on the MSVDA problem, we introduce comprehensive benchmarks, covering extensive MSVDA scenarios. Empirical results demonstrate a superior performance of the proposed TAMAN across multiple MSVDA benchmarks.
CONQUER: Contextual Query-aware Ranking for Video Corpus Moment Retrieval
Venue: arXiv cs.MM 2021
Year: 2021

This paper tackles a recently proposed Video Corpus Moment Retrieval task. This task is essential because advanced video retrieval applications should enable users to retrieve a precise moment from a large video corpus. We propose a novel CONtextual QUery-awarE Ranking~(CONQUER) model for effective moment localization and ranking. CONQUER explores query context for multi-modal fusion and representation learning in two different steps. The first step derives fusion weights for the adaptive combination of multi-modal video content. The second step performs bi-directional attention to tightly couple video and query as a single joint representation for moment localization. As query context is fully engaged in video representation learning, from feature fusion to transformation, the resulting feature is user-centered and has a larger capacity in capturing multi-modal signals specific to query. We conduct studies on two datasets, TVR for closed-world TV episodes and DiDeMo for open-world user-generated videos, to investigate the potential advantages of fusing video and query online as a joint representation for moment retrieval.
Not All Comments are Equal: Insights into Comment Moderation from a Topic-Aware Model
Venue: arXiv cs.CL 2021
Year: 2021

Moderation of reader comments is a significant problem for online news platforms. Here, we experiment with models for automatic moderation, using a dataset of comments from a popular Croatian newspaper. Our analysis shows that while comments that violate the moderation rules mostly share common linguistic and thematic features, their content varies across the different sections of the newspaper. We therefore make our models topic-aware, incorporating semantic features from a topic model into the classification decision. Our results show that topic information improves the performance of the model, increases its confidence in correct outputs, and helps us understand the model's outputs.
Search For Deep Graph Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

Current GNN-oriented NAS methods focus on the search for different layer aggregate components with shallow and simple architectures, which are limited by the 'over-smooth' problem. To further explore the benefits from structural diversity and depth of GNN architectures, we propose a GNN generation pipeline with a novel two-stage search space, which aims at automatically generating high-performance while transferable deep GNN models in a block-wise manner. Meanwhile, to alleviate the 'over-smooth' problem, we incorporate multiple flexible residual connection in our search space and apply identity mapping in the basic GNN layers. For the search algorithm, we use deep-q-learning with epsilon-greedy exploration strategy and reward reshaping. Extensive experiments on real-world datasets show that our generated GNN models outperforms existing manually designed and NAS-based ones.
Architecture Design for Human-Driven Systems
Venue: arXiv cs.SE 2021
Year: 2021

This paper highlights humans' social and mobility behaviors' role in the continuous engineering of sustainable socio-technical systems. Our approach relates the humans' characteristics and intentions with the system's goals, and models such interaction. Such a modeling approach aligns the architectural design and associated quality of service (QoS) with humans' quality of experience (QoE). We design a simulation environment that combines agent-based social simulation (ABSS) with architectural models generated through a model-driven engineering approach. Our modeling approach facilitates choosing the best architectural model and system configuration to enhance both the humans' and system's sustainability. We apply our approach to the Uffizi Galleries crowd management system. Taking advantage of real data, we model different scenarios that impact QoE. We then assess various architectural models with different SW/HW configurations to propose the optimal model based on different scenarios concerning QoS-QoE requirements.
Distributed Mission Planning of Complex Tasks for Heterogeneous Multi-Robot Teams
Venue: arXiv cs.RO 2021
Year: 2021

In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with cross-schedule dependencies that constrain the schedules of the different robots in the system. The proposed approach involves a multi-objective heuristic search of the mission, represented as a hierarchical tree that defines the mission goal. This procedure outputs several favorable ways to fulfill the mission, which directly feed into the next stage of the method. We propose a distributed metaheuristic based on evolutionary computation to allocate tasks and generate schedules for the set of chosen decompositions. The method is evaluated in a simulation setup of an automated greenhouse use case, where we demonstrate the method's ability to adapt the planning strategy depending on the available robots and the given optimization criteria.
mGNN: Generalizing the Graph Neural Networks to the Multilayer Case
Venue: arXiv cs.LG 2021
Year: 2021

Networks are a powerful tool to model complex systems, and the definition of many Graph Neural Networks (GNN), Deep Learning algorithms that can handle networks, has opened a new way to approach many real-world problems that would be hardly or even untractable. In this paper, we propose mGNN, a framework meant to generalize GNNs to the case of multi-layer networks, i.e., networks that can model multiple kinds of interactions and relations between nodes. Our approach is general (i.e., not task specific) and has the advantage of extending any type of GNN without any computational overhead. We test the framework into three different tasks (node and network classification, link prediction) to validate it.
Design and implementation of a parsimonious neuromorphic PID for onboard altitude control for MAVs using neuromorphic processors
Venue: arXiv cs.RO 2021
Year: 2021

The great promises of neuromorphic sensing and processing for robotics have led researchers and engineers to investigate novel models for robust and reliable control of autonomous robots (navigation, obstacle detection and avoidance, etc.), especially for quadrotors in challenging contexts such as drone racing and aggressive maneuvers. Using spiking neural networks, these models can be run on neuromorphic hardware to benefit from outstanding update rates and high energy efficiency. Yet, low-level controllers are often neglected and remain outside of the neuromorphic loop. Designing low-level neuromorphic controllers is crucial to remove the standard PID, and therefore benefit from all the advantages of closing the neuromorphic loop. In this paper, we propose a parsimonious and adjustable neuromorphic PID controller, endowed with a minimal number of 93 neurons sparsely connected to achieve autonomous, onboard altitude control of a quadrotor equipped with Intel's Loihi neuromorphic chip. We successfully demonstrate the robustness of our proposed network in a set of experiments where the quadrotor is requested to reach a target altitude from take-off. Our results confirm the suitability of such low-level neuromorphic controllers, ultimately with a very high update frequency.
Early and Revocable Time Series Classification
Venue: arXiv cs.AI 2021
Year: 2021

Many approaches have been proposed for early classification of time series in light of itssignificance in a wide range of applications including healthcare, transportation and fi-nance. Until now, the early classification problem has been dealt with by considering onlyirrevocable decisions. This paper introduces a new problem calledearly and revocabletimeseries classification, where the decision maker can revoke its earlier decisions based on thenew available measurements. In order to formalize and tackle this problem, we propose anew cost-based framework and derive two new approaches from it. The first approach doesnot consider explicitly the cost of changing decision, while the second one does. Exten-sive experiments are conducted to evaluate these approaches on a large benchmark of realdatasets. The empirical results obtained convincingly show (i) that the ability of revok-ing decisions significantly improves performance over the irrevocable regime, and (ii) thattaking into account the cost of changing decision brings even better results in general.Keywords:revocable decisions, cost estimation, online decision making
Learning PAC-Bayes Priors for Probabilistic Neural Networks
Venue: arXiv cs.LG 2021
Year: 2021

Recent works have investigated deep learning models trained by optimising PAC-Bayes bounds, with priors that are learnt on subsets of the data. This combination has been shown to lead not only to accurate classifiers, but also to remarkably tight risk certificates, bearing promise towards self-certified learning (i.e. use all the data to learn a predictor and certify its quality). In this work, we empirically investigate the role of the prior. We experiment on 6 datasets with different strategies and amounts of data to learn data-dependent PAC-Bayes priors, and we compare them in terms of their effect on test performance of the learnt predictors and tightness of their risk certificate. We ask what is the optimal amount of data which should be allocated for building the prior and show that the optimum may be dataset dependent. We demonstrate that using a small percentage of the prior-building data for validation of the prior leads to promising results. We include a comparison of underparameterised and overparameterised models, along with an empirical study of different training objectives and regularisation strategies to learn the prior distribution.
Homography augumented momentum constrastive learning for SAR image retrieval
Venue: arXiv cs.CV 2021
Year: 2021

Deep learning-based image retrieval has been emphasized in computer vision. Representation embedding extracted by deep neural networks (DNNs) not only aims at containing semantic information of the image, but also can manage large-scale image retrieval tasks. In this work, we propose a deep learning-based image retrieval approach using homography transformation augmented contrastive learning to perform large-scale synthetic aperture radar (SAR) image search tasks. Moreover, we propose a training method for the DNNs induced by contrastive learning that does not require any labeling procedure. This may enable tractability of large-scale datasets with relative ease. Finally, we verify the performance of the proposed method by conducting experiments on the polarimetric SAR image datasets.
Toward Reusable Science with Readable Code and Reproducibility
Venue: arXiv cs.DL 2021
Year: 2021

An essential part of research and scientific communication is researchers' ability to reproduce the results of others. While there have been increasing standards for authors to make data and code available, many of these files are hard to re-execute in practice, leading to a lack of research reproducibility. This poses a major problem for students and researchers in the same field who cannot leverage the previously published findings for study or further inquiry. To address this, we propose an open-source platform named RE3 that helps improve the reproducibility and readability of research projects involving R code. Our platform incorporates assessing code readability with a machine learning model trained on a code readability survey and an automatic containerization service that executes code files and warns users of reproducibility errors. This process helps ensure the reproducibility and readability of projects and therefore fast-track their verification and reuse.